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15 #ifndef CPU_CLA_SHARED_H
16 #define CPU_CLA_SHARED_H
26 #include "RAMP_GEN_CLA.h"
38 #define SETGPIO18_HIGH asm(" PUSH DP"); \
39 asm(" MOVW DP,#0x1fc") ; \
40 asm(" OR @0x1,#0x0004 "); \
43 #define SETGPIO18_LOW asm(" PUSH DP"); \
44 asm(" MOVW DP,#0x1fc") ; \
45 asm(" AND @0x1,#0xfffb "); \
49 #define SETGPIO18_HIGH
96 extern RAMP_GEN_CLA
rg1;
105 #define FCL_PI_MACRO(v) \
107 v.out += (v.err * v.Kerr) + v.carryOver; \
108 v.out = (v.out > v.Umax) ? v.Umax : v.out; \
109 v.out = (v.out < v.Umin) ? v.Umin : v.out; \
112 #define CLAMP_MACRO(v) \
114 v.out = (v.out > v.Umax) ? v.Umax : v.out; \
115 v.out = (v.out < v.Umin) ? v.Umin : v.out; \
123 #endif // end of CPU_CLA_SHARED_H definition
float float32_t
Definition: sfra_f32.h:42
Definition: qep_defs.h:27
float32_t cosWTs
Definition: cpu_cla_shared.h:63
Definition: cpu_cla_shared.h:62
struct motPars cmplxPars_t
float32_t idErr
Definition: cpu_cla_shared.h:67
float32_t expVal
Definition: cpu_cla_shared.h:65
ENC_Status_e
Definition: encoder.h:86
float32_t iqErr
Definition: cpu_cla_shared.h:68
float32_t kDirect
Definition: cpu_cla_shared.h:66
float32_t sinWTs
Definition: cpu_cla_shared.h:64
float32_t carryOver
Definition: cpu_cla_shared.h:69
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